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钱晋武 章亚男 孙麟治 秦新捷 沈耀宗 QIAN Jin-wu ZHANG Ya-nan SUN Lin-zhi QIN Xin-jie SHEN Yao-zong 《上海大学学报(英文版)》2000,4(3):235-238
The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation
to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small-diameter pipelines. The robot
inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro
CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw
locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.
Supported by National High-Tech R & D Program in China(863-512-9704-26,863-512-9804-18) 相似文献
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